Marian Andrecki
set of sensor managers
Revision 0:d9d8c810ba83, committed 2014-07-27
- Comitter:
- iramusa
- Date:
- Sun Jul 27 20:42:24 2014 +0000
- Commit message:
- Ultrasonic ranger class operational.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04.cpp Sun Jul 27 20:42:24 2014 +0000
@@ -0,0 +1,33 @@
+#include "mbed.h"
+#include "HCSR04.h"
+
+HCSR04::HCSR04(PinName pin_trigger, PinName pin_echo, float &container_var):
+caller(pin_trigger),
+listener(pin_echo){
+ range_storage = &container_var; //check how it's done
+ listener.rise(this, &HCSR04::start_counting);
+ listener.fall(this, &HCSR04::stop_counting);
+ time_keeper.start();
+}
+
+void HCSR04::start_measurement(void){
+ caller = 1;
+ controller.attach_us(this, &HCSR04::stop_calling, TRIGGER_TIME);
+}
+
+void HCSR04::stop_calling(void){
+ caller = 0;
+ controller.detach();
+}
+
+void HCSR04::start_counting(void){
+ time_keeper.reset();
+}
+
+void HCSR04::stop_counting(void){
+ float temp_range = (float)time_keeper.read_us()/58.0f; //convert to centimeters
+ if (temp_range < MAX_RANGE)
+ *range_storage = temp_range;
+ else
+ *range_storage = -1.0;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04.h Sun Jul 27 20:42:24 2014 +0000
@@ -0,0 +1,28 @@
+#ifndef __HCSR04_H__
+#define __HCSR04_H__
+
+#include "mbed.h"
+
+#define TRIGGER_TIME 10 //us
+#define MAX_RANGE 400 //cm
+
+
+class HCSR04{
+public:
+ HCSR04(PinName pin_trigger, PinName pin_echo, float &container_var);
+ void start_measurement(void);
+ float* range_storage;
+
+private:
+ long unsigned int time_0, time_f;
+ Ticker controller;
+ Timer time_keeper;
+ DigitalOut caller;
+ InterruptIn listener;
+
+ void stop_calling();
+ void start_counting();
+ void stop_counting();
+};
+
+#endif /* __HCSR04_H__ */
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Jul 27 20:42:24 2014 +0000
@@ -0,0 +1,19 @@
+#include "mbed.h"
+#include "range.cpp"
+#include "HCSR04.h"
+
+int main()
+{
+ DigitalOut myled(LED_GREEN);
+ Serial pc(USBTX, USBRX);
+ float range = 0.0f;
+ HCSR04 ranger(PTA12, PTD4, range); //trig, echo
+ pc.printf("Hello World!\n");
+
+ while (true) {
+ ranger.start_measurement();
+ wait(0.5f); // wait a small period of time
+ pc.printf("range = %f cm \n", range);
+ myled = !myled;
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Jul 27 20:42:24 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6213f644d804 \ No newline at end of file